EP2233332A2 - Method for controlling actuators which affect the roll angle of a motor vehicle - Google Patents

Method for controlling actuators which affect the roll angle of a motor vehicle Download PDF

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Publication number
EP2233332A2
EP2233332A2 EP10002915A EP10002915A EP2233332A2 EP 2233332 A2 EP2233332 A2 EP 2233332A2 EP 10002915 A EP10002915 A EP 10002915A EP 10002915 A EP10002915 A EP 10002915A EP 2233332 A2 EP2233332 A2 EP 2233332A2
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EP
European Patent Office
Prior art keywords
vehicle
lateral acceleration
future
lateral
guidance
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Granted
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EP10002915A
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German (de)
French (fr)
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EP2233332B1 (en
EP2233332A3 (en
Inventor
Karl-Heinz Meitinger
Walter Schmidt
Armin Ohletz
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Audi AG
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Audi AG
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Publication of EP2233332A3 publication Critical patent/EP2233332A3/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0511—Roll angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/187—Digital Controller Details and Signal Treatment
    • B60G2600/1873—Model Following
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B60G2800/9123—Active Body Control [ABC]

Definitions

  • the invention relates to a method for controlling the roll angle of a motor vehicle influencing actuators, in particular actuators of an active suspension system or a system with active stabilizers.
  • ABSC Active Body Control
  • An active roll stabilization can also be realized with systems with active stabilizers.
  • a method for increasing the driving stability of a motor vehicle in which a model-based feedforward control is used to apply to reduce the longitudinal dynamic influence on the lateral and yaw dynamics compensating yaw moment on the vehicle and thereby avoid the disadvantage of any regulation, after which only with the occurrence of a deviation engages and consequently the effect can occur only after a certain period of time.
  • the parameters effective steering angle which can result from a driver's steering angle, vehicle reference speed and a value for the longitudinal acceleration are used, so sizes that based solely on driver specifications.
  • the dependence of the self-steering behavior of the vehicle on the longitudinal dynamics should be significantly reduced with the model-based precontrol.
  • DE 10 2006 033 631 A1 a model-based method for stabilizing a vehicle taking into account vehicle lateral dynamics, in which a desired variable describing the lateral dynamics of the vehicle is determined from the driver's request or from an autonomous route by means of a vehicle model, from which a manipulated variable is derived by comparison with a measured or estimated state variable, which is supplied to at least one actuator in the vehicle.
  • the derived manipulated variable according to DE 10 2006 033 635 A1 a superposition angle, which is supplied to a steering superposition gear of a vehicle.
  • off DE 10 2005 033 995 A1 a method for driving a yawing momentum actuator known in which when cornering the vehicle, the current steering angle and the vehicle speed of the vehicle detected, the current coefficient of friction between the tires of the vehicle and the road determined as well as a setpoint curve is determined in order to To set the yaw moment of the yaw moment actuator such that the resulting current total lateral acceleration of the vehicle is controlled to the specified target curve.
  • the setpoint curve is selected such that it extends both the limit range of the maximum transverse vehicle acceleration to the value achievable with the yawing moment actuator and also advantageously maintains a harmonious, reproducible course of the self-steering behavior of the vehicle.
  • the object of the invention is therefore to provide a method for influencing the roll angle of a vehicle equipped with an automatic or semi-automatic vehicle guidance, which allows comfortable and semi-automatic driving for the occupants without lateral acceleration or reduced lateral acceleration.
  • the steering angle and the vehicle speed are preferably determined as the variables influencing the future lateral acceleration from the function for a forward-looking longitudinal and transverse guidance.
  • the curve shape and / or the course of the lane can also be determined as such size or quantities.
  • the vehicle speed and the curve or the course of the lane are suitable to determine as the variables influencing the future lateral acceleration.
  • a manipulated variable is calculated on the basis of a vehicle actuator model for carrying out method step d).
  • the delay in the setting of the actuators with the calculated manipulated variable is calculated on the basis of an actuator model in order to obtain the correct time for driving the actuators and thus substantially avoid a phase delay between the structure of the lateral acceleration and the active roll.
  • the current vehicle inclination is sensed by inclination sensors and taken into account in the calculation of the control value.
  • the future course of the roadway inclination can also be taken into account in the case of existing roadway data, which are provided by a navigation system or alternatively via on-board sensors, such as, for example, laser scanners.
  • Semi-automatic or automatic vehicle guides are known as a function for predictive longitudinal and lateral guidance, such as automatic lane keeping systems or lane change systems as well as Staundelergelept. They are systems that have a transverse control and a longitudinal control.
  • the degree of compensation of the future course of the lateral acceleration is determined based on predetermined criteria, preferably this concerns comfort or driving safety reasons.
  • a compensation can only be partially performed, in particular could be completely dispensed with compensation for the future course of the lateral acceleration due to the above reasons.
  • other functions of the suspension system can be prioritized in a certain driving situation with respect to the inventive compensation of the lateral acceleration.
  • the single FIGURE shows a block diagram of the functional units required for carrying out the method according to the invention.
  • the system for implementing the method according to the invention consists essentially of two control units 1 and 2 and an actuator 3 of an active suspension system, hereinafter referred to as ABC (Active Body Control).
  • the control unit 1 regulates a partially automatic or automatic vehicle guidance, while the control unit 2 is responsible for the control of the ABC actuators 3.
  • the actuator 3 could also represent a roll stabilization system with active stabilizers.
  • the category of semi-automatic vehicle guidance systems includes, for example, distance control systems, lane keeping and lane change systems, which have a longitudinal or a transverse control system.
  • Automatic vehicle guidance systems are systems that have both a longitudinal and a lateral control system.
  • the control unit 1 for such a semi-automatic or automatic vehicle guidance with a lateral and longitudinal control calculates the future course of the longitudinal and lateral behavior of the vehicle for a look-ahead period t V , where for the future time duration t V, the course of the steering angle due to the lateral control of the vehicle and the course of the vehicle speed are determined due to the longitudinal control of the vehicle.
  • the road inclination is sensed transversely to the direction of travel, ideally, of course, the further course of this roadway inclination to the end of the forecast period t V.
  • This further course of the roadway inclination can be provided, for example, from the roadway data of a navigation system.
  • This future steering angle course and the future speed course as well as the future course of the lateral roadway inclination are forwarded by the control unit 1 to the control unit 2.
  • a future course of the lateral acceleration acting on the occupants is calculated up to the end of the look-ahead time period t V.
  • the necessary bank of the vehicle is calculated, to this Compensate for lateral or full acceleration.
  • the manipulated variable for the adjustment of the ABC actuators 3 (or alternatively, the adjustment of the actuators of active stabilizers), which is required in the future necessary bank of the vehicle under the to set up future lateral acceleration.
  • the delay is calculated on the basis of an actuator model of the ABC actuators 3, which occurs in the calculated manipulated variable to the occurrence of the effect.
  • the ABC actuators 3 are driven according to the calculated delay of the control unit 2 accordingly, so as to ensure the timely adjustment of the bank of the vehicle.
  • driving situations may arise in which, for example, because of unevenness of the road surface by the ABC control of the vehicle body is calmed, but the adjustment range of the actuators is not sufficient for a complete inventive compensation of the lateral acceleration. In such driving situations only one takes place Partial compensation or it is even completely dispensed with a compensation.
  • certain functions of an ABC system can be prioritized over the inventive compensation of a lateral acceleration.
  • Such a function could be a wheel-specific adjustment of the wheel load to increase the braking effect.
  • the method according to the invention is therefore primarily suitable for increasing the comfort in non-safety-critical cases, for example passing through curves at higher speeds, for example on the highway.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The method involves determining a variable influencing transversal acceleration from a function for a forecasting longitudinal and cross guide. A progress of the transversal acceleration is calculated based on vehicle models for forecasting time. Cross inclination of a vehicle is calculated for partial compensation of the progress of the transversal acceleration acting on passengers. Actuators are controlled such that the vehicle performs rolling movement corresponding to the cross inclination based on in-phase with the progress of the cross inclination during the forecasting time.

Description

Die Erfindung betrifft ein Verfahren zur Ansteuerung von den Wankwinkel eines Kraftfahrzeugs beeinflussenden Aktoren, insbesondere Aktoren eines aktiven Federungssystems oder eines Systems mit aktiven Stabilisatoren.The invention relates to a method for controlling the roll angle of a motor vehicle influencing actuators, in particular actuators of an active suspension system or a system with active stabilizers.

Es ist allgemein bekannt, dass mit sogenannten aktiven Federungssystemen, auch Active Body Control (ABC) genannt, neben der Federungs- und Dämpfungsfunktion auch ein Ausgleich der Nick- und Wankbewegungen durch eine dynamische Regelung der Vertikalposition eines jeden einzelnen Rades möglich ist, insbesondere das aktive Unterdrücken von Wankbewegungen des Fahrzeugs bei Kurvenfahrt, um bspw. die Fahrstabilität des Fahrzeugs zu erhöhen. Eine aktive Wankstabilisierung kann auch mit Systemen mit aktiven Stabilisatoren realisiert werden.It is well known that with so-called active suspension systems, also called Active Body Control (ABC), in addition to the suspension and damping function and a compensation of pitching and rolling movements by a dynamic control of the vertical position of each wheel is possible, in particular the active Suppressing rolling movements of the vehicle when cornering, for example, to increase the driving stability of the vehicle. An active roll stabilization can also be realized with systems with active stabilizers.

So ist aus der WO 2006007908 A1 ein Verfahren zur Erhöhung der Fahrstabilität eines Kraftfahrzeugs bekannt, bei dem eine modellgestützte Vorsteuerung benutzt wird, um zur Reduktion des Längsdynamikeinflusses auf die Quer- und Gierdynamik ein kompensierendes Giermoment auf das Fahrzeug aufzubringen und dadurch den Nachteil einer jeden Regelung zu vermeiden, wonach diese erst mit dem Auftreten einer Abweichung eingreift und infolgedessen die Wirkung erst nach einer gewissen Zeitspanne eintreten kann. Als Eingangsgrößen für dieses bekannte Vorsteuerverfahren werden die Größen effektiver Lenkwinkel, der sich aus einem Fahrerlenkwinkel ergeben kann, Fahrzeug-Referenzgeschwindigkeit und ein Wert für die Längsbeschleunigung verwendet, also Größen, die ausschließlich auf Fahrervorgaben beruhen. Auf der Basis solcher Größen soll mit der modellgestützten Vorsteuerung die Abhängigkeit des Eigenlenkverhaltens des Fahrzeugs von der Längsdynamik deutlich reduziert werden.So is out of the WO 2006007908 A1 a method for increasing the driving stability of a motor vehicle is known in which a model-based feedforward control is used to apply to reduce the longitudinal dynamic influence on the lateral and yaw dynamics compensating yaw moment on the vehicle and thereby avoid the disadvantage of any regulation, after which only with the occurrence of a deviation engages and consequently the effect can occur only after a certain period of time. As input variables for this known pilot control method, the parameters effective steering angle, which can result from a driver's steering angle, vehicle reference speed and a value for the longitudinal acceleration are used, so sizes that based solely on driver specifications. On the basis of such variables, the dependence of the self-steering behavior of the vehicle on the longitudinal dynamics should be significantly reduced with the model-based precontrol.

Des Weiteren beschreibt auch die DE 10 2006 033 631 A1 ein modellbasiertes Verfahren zur Stabilisierung eines Fahrzeugs unter Berücksichtigung der Fahrzeugquerdynamik, bei dem aus dem Fahrerwunsch oder aus einer autonomen Streckenführung eine die Querdynamik des Fahrzeugs beschreibende Sollgröße mittels einem Fahrzeugmodell ermittelt wird, aus der durch Vergleich mit einer gemessenen oder geschätzten Zustandsgröße eine Stellgröße abgeleitet wird, die mindestens einem Aktuator im Fahrzeug zugeführt wird. So stellt die abgeleitete Stellgröße gemäß der DE 10 2006 033 635 A1 einen Überlagerungswinkel dar, der einem Lenküberlagerungsgetriebe eines Fahrzeugs zugeführt wird.Furthermore, also describes the DE 10 2006 033 631 A1 a model-based method for stabilizing a vehicle taking into account vehicle lateral dynamics, in which a desired variable describing the lateral dynamics of the vehicle is determined from the driver's request or from an autonomous route by means of a vehicle model, from which a manipulated variable is derived by comparison with a measured or estimated state variable, which is supplied to at least one actuator in the vehicle. Thus, the derived manipulated variable according to DE 10 2006 033 635 A1 a superposition angle, which is supplied to a steering superposition gear of a vehicle.

Schließlich ist aus DE 10 2005 033 995 A1 ein Verfahren zur Ansteuerung eines Giermomentaktuators bekannt, bei dem bei einer Kurvenfahrt des Fahrzeugs der aktuelle Lenkwinkel und die Fahrgeschwindigkeit des Fahrzeugs erfasst, der aktuelle Reibwert zwischen den Reifen des Fahrzeugs und der Fahrbahn bestimmt sowie in Abhängigkeit daraus eine Soll-Kurve festgelegt wird, um das Giermoment des Giermomentaktuators derart einzustellen, dass die resultierende aktuelle Gesamtquerbeschleunigung des Fahrzeugs auf die festgelegte Sollkurve gesteuert wird. Die Soll-Kurve wird dabei so gewählt, dass sie sowohl den Grenzbereich der maximalen Fahrzeug-Querbeschleunigung auf den mit dem Giermomentaktuator erreichbaren Wert erweitert wird als auch ein harmonischer, reproduzierbarer Verlauf des Eigenlenkverhaltens des Fahrzeugs vorteilhaft erhalten bleibt.Finally is off DE 10 2005 033 995 A1 a method for driving a yawing momentum actuator known in which when cornering the vehicle, the current steering angle and the vehicle speed of the vehicle detected, the current coefficient of friction between the tires of the vehicle and the road determined as well as a setpoint curve is determined in order to To set the yaw moment of the yaw moment actuator such that the resulting current total lateral acceleration of the vehicle is controlled to the specified target curve. The setpoint curve is selected such that it extends both the limit range of the maximum transverse vehicle acceleration to the value achievable with the yawing moment actuator and also advantageously maintains a harmonious, reproducible course of the self-steering behavior of the vehicle.

Diese bekannten Verfahren zielen im Wesentlichen darauf ab, die Quer- oder Gierdynamik eines Fahrzeugs derart zu beeinflussen, damit das Auftreten etwaiger sicherheitskritischer Situationen vermieden oder zumindest abgeschwächt werden. Komfortrelevante Aspekte werden dabei nicht berücksichtigt.These known methods essentially aim at influencing the lateral or yaw dynamics of a vehicle in such a way that the occurrence of any safety-critical situations is avoided or at least mitigated. Comfort-relevant aspects are not taken into account.

Aufgabe der Erfindung ist es daher, ein Verfahren zur Beeinflussung des Wankwinkels eines mit einer automatischen oder teilautomatischen Fahrzeugführung ausgestatteten Fahrzeugs anzugeben, das ein komfortables und für die Insassen querbeschleunigungsfreies oder querbeschleunigungsreduziertes automatisches oder teilautomatisches Fahren ermöglicht.The object of the invention is therefore to provide a method for influencing the roll angle of a vehicle equipped with an automatic or semi-automatic vehicle guidance, which allows comfortable and semi-automatic driving for the occupants without lateral acceleration or reduced lateral acceleration.

Diese Aufgabe wird gelöst durch ein Verfahren mit den Merkmalen des Patentanspruchs 1.This object is achieved by a method having the features of patent claim 1.

Ein solches Verfahren weist zur Ansteuerung von die Wankbewegung eines Fahrzeugs beeinflussenden Aktoren, insbesondere Aktoren eines aktiven Federungssystems oder eines Systems mit aktiven Stabilisatoren, wobei das Fahrzeug mit einer Funktion für eine vorausschauende Längs- und Querführung mit einer Vorausschauzeitdauer (tV) ausgestattet ist, folgende Verfahrensschritte auf:

  1. a) Ermitteln von wenigstens einer die zukünftige Querbeschleunigung beeinflussende Größe aus der Funktion für eine vorausschauende Längs-und Querführung,
  2. b) Berechnen des zukünftigen Verlaufs dieser Querbeschleunigung auf der Basis eines Fahrzeugmodells für die Vorausschauzeitdauer (tV),
  3. c) Berechnen der Querneigung des Fahrzeugs, die zur wenigstens teilweisen Kompensation des zukünftigen Verlaufs der auf die Insassen wirkenden Querbeschleunigung für die Vorausschauzeitdauer (tV) erforderlich ist, und
  4. d) Steuerung der Aktoren derart, dass das Fahrzeug eine der berechneten Querneigung entsprechende Wankbewegung zeitlich zumindest annähernd phasengleich mit dem zukünftigen Verlauf der Querbeschleunigung während der Vorausschauzeitdauer (tv) ausführt.
Such a method has for activating actuators influencing the rolling motion of a vehicle, in particular actuators of an active suspension system or a system with active stabilizers, the vehicle being equipped with a function for anticipatory longitudinal and lateral guidance with a look-ahead time period (t V ) Procedural steps on:
  1. a) determining at least one quantity influencing the future lateral acceleration from the function for a forward-looking longitudinal and transverse guidance,
  2. b) calculating the future course of this lateral acceleration on the basis of a vehicle model for the look-ahead period (t V ),
  3. c) calculating the bank of the vehicle, which is required for at least partial compensation of the future course of acting on the occupants lateral acceleration for the look-ahead period (t V ), and
  4. d) controlling the actuators such that the vehicle at least one of the calculated roll corresponding rolling movement in time approximately in-phase with the future history of lateral acceleration during the look-ahead period (tv).

Mit diesem erfindungsgemäßen Verfahren wird ein aktives "in die Kurve neigen" bei teilautomatischer oder automatischer Fahrt möglich, ohne zu Komforteinbußen zu führen. Denn durch die Vorsteuerung, die die automatische Fahrzeugführung zulässt, kann das zukünftige Wanken und die zukünftige Querbeschleunigung berechnet werden und dementsprechend die Aktoren des Federungssystems oder der Stabilisatoren eines entsprechenden Systems so angesteuert werden, dass nahezu kein Phasenverzug zwischen dem Aufbau der Querbeschleunigung und dem Ausgleich durch das aktive Wanken entsteht und hierdurch der Fahrer oder die Fahrzeuginsassen keinen unrunden und damit auch keinen unangenehmen Querbeschleunigungsdruck wahrnehmen.With this method according to the invention, an active "leaning in the curve" is possible in the case of semi-automatic or automatic driving, without leading to loss of comfort. Because by the feedforward control, which allows automatic vehicle guidance, the future roll and the future lateral acceleration can be calculated and accordingly the actuators of the suspension system or the stabilizers of a corresponding system are controlled so that almost no phase delay between the structure of the lateral acceleration and the compensation by the active rolling occurs and thereby the driver or the vehicle occupants do not perceive non-circular and thus no unpleasant lateral acceleration pressure.

Vorzugsweise wird im Verfahrensschritt a) der Lenkwinkel und die Fahrzeuggeschwindigkeit als die die zukünftige Querbeschleunigung beeinflussenden Größen aus der Funktion für eine vorausschauende Längs-und Querführung ermittelt. Auch können zusätzlich der Kurvenverlauf und/oder der Verlauf der Fahrspur als solche Größe bzw. Größen ermittelt werden. Schließlich sind auch die Fahrzeuggeschwindigkeit und der Kurvenverlauf oder der Verlauf der Fahrspur geeignet, als die die zukünftige Querbeschleunigung beeinflussenden Größen zu ermitteln.In method step a), the steering angle and the vehicle speed are preferably determined as the variables influencing the future lateral acceleration from the function for a forward-looking longitudinal and transverse guidance. In addition, the curve shape and / or the course of the lane can also be determined as such size or quantities. Finally, the vehicle speed and the curve or the course of the lane are suitable to determine as the variables influencing the future lateral acceleration.

Gemäß einer Weiterbildung der Erfindung wird zur Durchführung des Verfahrensschrittes d) eine Stellgröße auf der Basis eines Fahrzeug-Aktormodells berechnet. Insbesondere wird die Verzögerung bei der Einstellung der Aktoren mit der berechneten Stellgröße auf der Basis eines Aktormodells berechnet, um den richtigen Zeitpunkt zur Ansteuerung der Aktoren zu erhalten und damit einen Phasenverzug zwischen dem Aufbau der Querbeschleunigung und dem aktiven Wanken im Wesentlichen zu vermeiden.According to one embodiment of the invention, a manipulated variable is calculated on the basis of a vehicle actuator model for carrying out method step d). In particular, the delay in the setting of the actuators with the calculated manipulated variable is calculated on the basis of an actuator model in order to obtain the correct time for driving the actuators and thus substantially avoid a phase delay between the structure of the lateral acceleration and the active roll.

Mit einer besonderen Weiterbildung der Erfindung, bei der zusätzlich die Fahrbahnneigung und/oder deren zukünftiger Verlauf ermittelt wird, wird eine weitere Verbesserung des Verfahrens erreicht. Hierzu wird die aktuelle Fahrzeugneigung mittels Neigungssensoren sensiert und bei der Berechnung des Stellwertes berücksichtigt. Zusätzlich kann auch bei vorhandenen Straßenverlaufsdaten, die durch ein Navigationssystem oder alternativ über bordeigene Sensoren, wie bspw. Laserscanner bereitgestellt werden, der zukünftige Verlauf der Fahrbahnneigung berücksichtigt werden.With a particular development of the invention, in which additionally the road inclination and / or its future course is determined, a further improvement of the method is achieved. For this purpose, the current vehicle inclination is sensed by inclination sensors and taken into account in the calculation of the control value. In addition, the future course of the roadway inclination can also be taken into account in the case of existing roadway data, which are provided by a navigation system or alternatively via on-board sensors, such as, for example, laser scanners.

Teilautomatische oder automatische Fahrzeugführungen sind als Funktion für eine vorausschauende Längs- und Querführung bekannt, so zum Beispiel automatische Spurhaltesysteme oder Spurwechselsysteme als auch Staufolgeregelungen. Es sind Systeme, die eine Querregelung und eine Längsregelung aufweisen.Semi-automatic or automatic vehicle guides are known as a function for predictive longitudinal and lateral guidance, such as automatic lane keeping systems or lane change systems as well as Staufolgergelungen. They are systems that have a transverse control and a longitudinal control.

Gemäß einer besonderen Weiterbildung der Erfindung wird aufgrund vorgegebener Kriterien der Grad der Kompensation des zukünftigen Verlaufs der Querbeschleunigung bestimmt, vorzugsweise betrifft dies komforttechnische oder fahrsicherheitstechnische Gründe. So kann eine Kompensation auch nur teilweise durchgeführt werden, insbesondere könnte wegen der genannten Gründe auch vollständig auf eine Kompensation des zukünftigen Verlaufs der Querbeschleunigung verzichtet werden. Vorzugsweise können auch andere Funktionen des Federungssystems in bestimmten Fahrsituation gegenüber der erfindungsgemäßen Kompensation der Querbeschleunigung priorisiert werden.According to a particular embodiment of the invention, the degree of compensation of the future course of the lateral acceleration is determined based on predetermined criteria, preferably this concerns comfort or driving safety reasons. Thus, a compensation can only be partially performed, in particular could be completely dispensed with compensation for the future course of the lateral acceleration due to the above reasons. Preferably also other functions of the suspension system can be prioritized in a certain driving situation with respect to the inventive compensation of the lateral acceleration.

Die Erfindung wird nachfolgend anhand eines Ausführungsbeispiels unter Bezugnahme auf die beigefügte Figur ausführlich beschrieben.The invention will now be described in detail by means of an embodiment with reference to the accompanying figure.

Die einzige Figur zeigt ein Blockschaltbild der für die Durchführung des erfindungsgemäßen Verfahrens erforderlichen Funktionseinheiten.The single FIGURE shows a block diagram of the functional units required for carrying out the method according to the invention.

Das System zur Umsetzung des erfindungsgemäßen Verfahrens besteht im Wesentlichen aus zwei Steuereinheiten 1 und 2 und einer Aktorik 3 eines aktiven Fahrwerksystems, im Folgenden ABC (Active Body Control) genannt. Die Steuereinheit 1 regelt eine teilautomatische oder automatische Fahrzeugführung, während die Steuereinheit 2 für die Steuerung der ABC-Aktorik 3 verantwortlich ist. Alternativ könnte die Aktorik 3 auch ein Wankstabilisierungssystem mit aktiven Stabilisatoren darstellen.The system for implementing the method according to the invention consists essentially of two control units 1 and 2 and an actuator 3 of an active suspension system, hereinafter referred to as ABC (Active Body Control). The control unit 1 regulates a partially automatic or automatic vehicle guidance, while the control unit 2 is responsible for the control of the ABC actuators 3. Alternatively, the actuator 3 could also represent a roll stabilization system with active stabilizers.

Unter die Kategorie teilautomatische Fahrzeugführungssysteme fallen bspw. Abstandsregelsysteme, Spurhalte- und Spurwechselsysteme, die ein Längs-oder eine Querregelungssystem aufweisen. Automatische Fahrzeugführungssysteme sind Systeme, die sowohl ein Längs- als auch ein Querregelungssystem aufweisen.The category of semi-automatic vehicle guidance systems includes, for example, distance control systems, lane keeping and lane change systems, which have a longitudinal or a transverse control system. Automatic vehicle guidance systems are systems that have both a longitudinal and a lateral control system.

Die Steuereinheit 1 für eine solche teilautomatische oder automatische Fahrzeugführung mit einer Quer- und Längsregelung errechnet den zukünftigen Verlauf des Längs- und Querverhaltens des Fahrzeugs für eine Vorausschauzeitdauer tV, wobei für die in der Zukunft liegende Zeitdauer tV der Verlauf des Lenkwinkels aufgrund der Querregelung des Fahrzeugs und der Verlauf der Fahrzeuggeschwindigkeit aufgrund der Längsregelung des Fahrzeugs bestimmt werden.The control unit 1 for such a semi-automatic or automatic vehicle guidance with a lateral and longitudinal control calculates the future course of the longitudinal and lateral behavior of the vehicle for a look-ahead period t V , where for the future time duration t V, the course of the steering angle due to the lateral control of the vehicle and the course of the vehicle speed are determined due to the longitudinal control of the vehicle.

Zusätzlich wird auch die Fahrbahnneigung quer zur Fahrtrichtung sensiert, idealerweise natürlich auch der weitere Verlauf dieser Fahrbahnneigung bis zum Ende der Vorausschauzeitdauer tV. Dieser weitere Verlauf der Fahrbahnneigung kann bspw. aus den Straßenverlaufsdaten eines Navigationssystems bereitgestellt werden.In addition, the road inclination is sensed transversely to the direction of travel, ideally, of course, the further course of this roadway inclination to the end of the forecast period t V. This further course of the roadway inclination can be provided, for example, from the roadway data of a navigation system.

Dieser zukünftige Lenkwinkelverlauf und der zukünftige Geschwindigkeitsverlauf als auch der zukünftige Verlauf der seitlichen Fahrbahnneigung werden von der Steuereinheit 1 an die Steuereinheit 2 weitergeleitet. Dort werden mittels eines geeigneten Fahrzeugmodells ein zukünftiger Verlauf der auf die Insassen wirkenden Querbeschleunigung bis zum Ende der Vorausschauzeitdauer tV berechnet.This future steering angle course and the future speed course as well as the future course of the lateral roadway inclination are forwarded by the control unit 1 to the control unit 2. There, by means of a suitable vehicle model, a future course of the lateral acceleration acting on the occupants is calculated up to the end of the look-ahead time period t V.

Anschließend wird aus diesem zukünftigen Verlauf der Querbeschleunigung die notwendige Querneigung des Fahrzeugs berechnet, um diese Querbeschleunigung vollständig oder teilweise auszugleichen. Aus dieser berechneten Querneigung wird mittels eines Fahrzeug- und Feder-Dämpfermodells die Stellgröße für die Verstellung des ABC-Aktoren 3 berechnet (oder alternativ die Verstellung der Aktoren von aktiven Stabilisatoren), die erforderlich ist, um die zukünftig notwendige Querneigung des Fahrzeugs unter der sich zukünftig aufbauenden Querbeschleunigung einzustellen. Um eine Phasengleichheit zwischen dem Aufbau der zukünftig eintretenden Querbeschleunigung und dem aktiven Wanken sicherzustellen, wird anhand eines Aktorikmodells der ABC-Aktoren 3 die Verzögerung berechnet, die bei der berechneten Stellgröße bis zum Eintreten der Wirkung auftritt. Die ABC-Aktoren 3 werden entsprechend der berechneten Verzögerung von der Steuereinheit 2 entsprechend angesteuert, um somit die rechtzeitige Einstellung der Querneigung des Fahrzeugs sicherzustellen.Subsequently, from this future course of the lateral acceleration, the necessary bank of the vehicle is calculated, to this Compensate for lateral or full acceleration. From this calculated bank is calculated by means of a vehicle and spring damper model, the manipulated variable for the adjustment of the ABC actuators 3 (or alternatively, the adjustment of the actuators of active stabilizers), which is required in the future necessary bank of the vehicle under the to set up future lateral acceleration. In order to ensure a phase equality between the structure of the future occurring lateral acceleration and the active roll, the delay is calculated on the basis of an actuator model of the ABC actuators 3, which occurs in the calculated manipulated variable to the occurrence of the effect. The ABC actuators 3 are driven according to the calculated delay of the control unit 2 accordingly, so as to ensure the timely adjustment of the bank of the vehicle.

Es gibt Fahrsituationen, in denen es nicht sinnvoll ist, aus Gründen des Fahrkomforts oder der Fahrsicherheit die zukünftig sich einstellende Querbeschleunigung vollständig, auch nicht teilweise zu kompensieren.There are driving situations in which it is not sensible, for the sake of driving comfort or driving safety, to compensate for the lateral acceleration that will occur in the future completely, not even partially.

Dies betrifft vor allem sicherheitskritische Fahrsituationen mit einem schnellen Richtungswechsel, wo es sinnvoll ist, die heftig auftretenden Querbeschleunigungen nicht zu kompensieren um dem Fahrer die sicherheitskritische Situation auch haptisch empfinden zu lassen.This applies above all to safety-critical driving situations with a rapid change of direction, where it makes sense not to compensate for the violently occurring lateral accelerations in order to allow the driver to feel the safety-critical situation even haptically.

In bestimmten Fahrsituationen können andere Funktionen des ABC-Systems oder der Wankstabilisierung, die parallel zur Reduzierung der Querbeschleunigung betrieben werden dazu führen, dass für eine vollständige Erfüllung beider Funktionen ein Verstellweg benötigt wird, der von mindestens einem Aktor nicht geliefert werden kann. In diesem Fall kann eine andere Funktion gegenüber der Reduzierung der Querbeschleunigung priorisiert werden, so dass keine oder eine geringere Reduzierung der Querbeschleunigung erfolgt.In certain driving situations, other functions of the ABC system or roll stabilization that operate in parallel with the reduction in lateral acceleration may result in an adjustment that is inadequate by at least one actuator to fully perform both functions. In this case, a different function from the reduction of the lateral acceleration can be prioritized so that no or less reduction of the lateral acceleration takes place.

Auch können Fahrsituationen entstehen, in welchen bspw. wegen Unebenheiten der Fahrbahnoberfläche durch die ABC-Steuerung der Fahrzeugaufbau beruhigt wird, jedoch der Verstellbereich der Aktoren nicht für eine vollständige erfindungsgemäße Kompensation der Querbeschleunigung ausreicht. In solchen Fahrsituationen erfolgt nur eine teilweise Kompensation oder es wird sogar vollständig auf eine Kompensation verzichtet.Also, driving situations may arise in which, for example, because of unevenness of the road surface by the ABC control of the vehicle body is calmed, but the adjustment range of the actuators is not sufficient for a complete inventive compensation of the lateral acceleration. In such driving situations only one takes place Partial compensation or it is even completely dispensed with a compensation.

Auch können bestimmte Funktionen eines ABC-Systems gegenüber der erfindungsgemäßen Kompensation einer Querbeschleunigung priorisiert werden. Eine solche Funktion könnte eine radindividuelle Einstellung der Radlast zur Erhöhung der Bremswirkung sein.Also, certain functions of an ABC system can be prioritized over the inventive compensation of a lateral acceleration. Such a function could be a wheel-specific adjustment of the wheel load to increase the braking effect.

Das erfindungsgemäße Verfahren bietet sich daher hauptsächlich zur Komforterhöhung in nicht sicherheitskritischen Fällen an, so zum Beispiel das Durchfahren von Kurven bei höherer Geschwindigkeit, bspw. auf der Autobahn.The method according to the invention is therefore primarily suitable for increasing the comfort in non-safety-critical cases, for example passing through curves at higher speeds, for example on the highway.

Claims (11)

Verfahren zur Ansteuerung von die Wankbewegung eines Fahrzeugs beeinflussenden Aktoren, insbesondere Aktoren eines aktiven Federungssystems oder eines Systems mit aktiven Stabilisatoren, wobei das Fahrzeug mit einer Funktion für eine vorausschauende Längs- und Querführung mit einer Vorausschauzeitdauer (tV) ausgestattet ist, welches folgende Verfahrensschritte aufweist: a) Ermitteln von wenigstens einer die zukünftige Querbeschleunigung beeinflussende Größe aus der Funktion für eine vorausschauende Längs-und Querführung, b) Berechnen des zukünftigen Verlaufs dieser Querbeschleunigung auf der Basis eines Fahrzeugmodells für die Vorausschauzeitdauer (tV), c) Berechnen der Querneigung des Fahrzeugs, die zur wenigstens teilweisen Kompensation des zukünftigen Verlaufs der auf die Insassen wirkenden Querbeschleunigung für die Vorausschauzeitdauer (tV) erforderlich ist, und d) Steuerung der Aktoren derart, dass das Fahrzeug eine der berechneten Querneigung entsprechende Wankbewegung zeitlich zumindest annähernd phasengleich mit dem zukünftigen Verlauf der Querbeschleunigung während der Vorausschauzeitdauer (tV) ausführt. Method for controlling actuators influencing the roll motion of a vehicle, in particular actuators of an active suspension system or a system with active stabilizers, wherein the vehicle is equipped with a function for predictive longitudinal and lateral guidance with a look-ahead period (t V ) comprising the following method steps : a) determining at least one quantity influencing the future lateral acceleration from the function for a forward-looking longitudinal and transverse guidance, b) calculating the future course of this lateral acceleration on the basis of a vehicle model for the look-ahead period (t V ), c) calculating the bank of the vehicle, which is required for at least partial compensation of the future course of acting on the occupants lateral acceleration for the look-ahead period (t V ), and d) controlling the actuators such that the vehicle makes a rolling motion of the calculated lateral inclination corresponding time-at least approximately in phase with the future course of the lateral acceleration during the predicted time duration (t V). Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass im Verfahrensschritt a) der Lenkwinkel und die Fahrzeuggeschwindigkeit als die die zukünftige Querbeschleunigung beeinflussenden Größen aus der Funktion für eine vorausschauende Längs- und Querführung ermittelt wird.A method according to claim 1, characterized in that in step a) the steering angle and the vehicle speed is determined as the future lateral acceleration influencing variables from the function for a predictive longitudinal and lateral guidance. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass zusätzlich der Kurvenradius und/oder die Fahrspur als die die zukünftige Querbeschleunigung beeinflussenden Größen aus der Funktion für eine vorausschauende Längs- und Querführung ermittelt wird.A method according to claim 2, characterized in that in addition the curve radius and / or the lane than the future Transverse acceleration influencing variables from the function for a predictive longitudinal and lateral guidance is determined. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass im Verfahrensschritt a) die Fahrzeuggeschwindigkeit und der Kurvenradius und/oder die Fahrspur als die die zukünftige Querbeschleunigung beeinflussenden Größen aus der Funktion für eine vorausschauende Längs- und Querführung ermittelt wird.A method according to claim 1, characterized in that in step a) the vehicle speed and the turning radius and / or the lane is determined as the future lateral acceleration influencing variables from the function for a predictive longitudinal and lateral guidance. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass zur Durchführung des Verfahrensschrittes d) eine Stellgröße auf der Basis eines Fahrzeug-Aktormodells berechnet wird.Method according to one of the preceding claims, characterized in that for performing the method step d) a manipulated variable is calculated on the basis of a vehicle-actuator model. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass zur Durchführung des Verfahrensschrittes d) der Zeitpunkt zur Ansteuerung der Aktoren mit der berechneten Stellgröße auf der Basis eines Aktormodells berechnet wird.A method according to claim 5, characterized in that for performing the method step d) the time for controlling the actuators with the calculated manipulated variable is calculated on the basis of an actuator model. Verfahren nach einem der Ansprüche 2 bis 6, dadurch gekennzeichnet, dass zusätzlich die Fahrbahnneigung und/oder deren zukünftiger Verlauf ermittelt wird.Method according to one of claims 2 to 6, characterized in that in addition the road inclination and / or their future course is determined. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Funktion für eine vorausschauende Längs- und Querführung eine teilautomatische oder automatische Fahrzeugführung darstellt.Method according to one of the preceding claims, characterized in that the function for a predictive longitudinal and transverse guidance represents a semi-automatic or automatic vehicle guidance. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass bei vorgegebenen Fahrsituationen keine Kompensation des zukünftigen Verlaufs der Querbeschleunigung durchgeführt wird.Method according to one of the preceding claims, characterized in that in given driving situations no compensation of the future course of the lateral acceleration is performed. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Kompensation des zukünftigen Verlaufs der Querbeschleunigung nur teilweise durchgeführt wird.Method according to one of the preceding claims, characterized in that the compensation of the future course of the lateral acceleration is only partially performed. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass andere Funktionen eines aktiven Federungssystems des Fahrzeugs gegenüber der Durchführung der Kompensation des zukünftigen Verlaufs der Querbeschleunigung priorisiert sind.Method according to one of the preceding claims, characterized in that other functions of an active suspension system of the vehicle over the implementation of the compensation of the future course of the lateral acceleration are prioritized.
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